diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..bef5ed5a75a4d3c4504e5a10283e789bac24bd9b
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,68 @@
+
+stages:
+ - build-and-test
+
+
+build-and-test:
+ stage: build-and-test
+ image: git.h2t.iar.kit.edu:5050/sw/armarx/meta/axii:latest-bionic
+
+ cache:
+ # https://docs.gitlab.com/ee/ci/caching/#share-caches-across-jobs-in-different-branches
+ key: one-key-to-rule-them-all
+ paths:
+ - .ccache
+
+ before_script:
+ # Ccache configuration and introspection.
+ - apt-get install ccache --yes
+ - ccache --set-config=cache_dir="$CI_PROJECT_DIR/.ccache"
+ - ccache --max-size=5G
+ - ccache --show-stats
+
+ # Activate Axii.
+ - source /axii/scripts/install_axii.sh
+
+ script:
+ # Create workspace.
+ - axii workspace create ~/workspace workspace
+ - axii workspace activate workspace
+ - _axii_auto_env_refresh
+
+ # Use workspace configuration from project.
+ - cp "$CI_PROJECT_DIR/.gitlab/ci/armarx-workspace.json" "$ARMARX_WORKSPACE/armarx-workspace.json"
+ - cat "$ARMARX_WORKSPACE/armarx-workspace.json"
+
+ - axii workspace env
+ - _axii_auto_env_refresh
+
+ - echo "Workspace information:"
+ - axii workspace list-modules
+ - axii workspace list-modules --deps
+ - axii workspace info
+
+ - export PROJECT_PATH_IN_WORKSPACE="$simox__PATH"
+
+ # Symlink project directory into Axii workspace.
+ - mkdir -p "$(dirname $PROJECT_PATH_IN_WORKSPACE)"
+ - ln -s "$CI_PROJECT_DIR" "$PROJECT_PATH_IN_WORKSPACE"
+
+ # Upgrade.
+ - axii workspace system --accept-apt-install
+ - axii workspace update --prefer-https
+ - _axii_auto_env_refresh
+
+ # Upgrade.
+ - axii workspace upgrade -m simox
+ - _axii_auto_env_refresh
+
+ - ccache --show-stats
+
+ # Test.
+ # ToDo: Add and use `axii ws test -m simox`
+ - cd "$PROJECT_PATH_IN_WORKSPACE/build"
+ - ctest . || true
+ - ctest --rerun-failed --output-on-failure . || true
+ - cat Temporary/LastTest.log || true
+ # Once again to make the job fail if an error occurs.
+ - ctest .
diff --git a/.gitlab/CODEOWNERS b/.gitlab/CODEOWNERS
index f3c340d5fa1dc00bc42cbf28a39e5cdfd13ced57..2e5fe5a8abaf792d21f3c7f2fd2fb4515e18a02c 100644
--- a/.gitlab/CODEOWNERS
+++ b/.gitlab/CODEOWNERS
@@ -1,3 +1,19 @@
-/SimDynamics/ @patrickhegemann @fabian.reister
-/VirtualRobot/IK/platform @fabian.reister @dreher
+/SimDynamics/ @patrickhegemann @reister
+/SimoxUtility/algorithm/get_map_keys_values.h @kartmann
+/SimoxUtility/caching/ @kartmann
+/SimoxUtility/color/ @kartmann
+/SimoxUtility/json/ @kartmann
+/SimoxUtility/math/pose/ @kartmann
+/SimoxUtility/math/statistics/ @kartmann
+/SimoxUtility/math/SoftMinMax.* @kartmann
+/SimoxUtility/meta/EnumNames.hpp @kartmann
+/SimoxUtility/meta/type_name.* @kartmann
+/SimoxUtility/shapes/AxisAlignedBoundingBox.* @kartmann
+/SimoxUtility/threads/CountingSemaphore.* @kartmann
+
+/VirtualRobot/IK/platform @reister @dreher
+/VirtualRobot/MJCF/ @kartmann
+/VirtualRobot/Nodes/HemisphereJoint/ @kartmann
+/VirtualRobot/Nodes/RobotNodeHemisphere.* @kartmann
+/VirtualRobot/XML/mujoco/ @kartmann
diff --git a/.gitlab/ci/armarx-workspace.json b/.gitlab/ci/armarx-workspace.json
new file mode 100644
index 0000000000000000000000000000000000000000..87b8897296f6b86dfc610f5a754e7a0a4efd3918
--- /dev/null
+++ b/.gitlab/ci/armarx-workspace.json
@@ -0,0 +1,20 @@
+{
+ "modules": {
+ "tools/ccache/default": {},
+ "simox": {},
+
+ "# Missing for deps/coin/soqt": {},
+ "apt/libqt5opengl5-dev": {}
+ },
+ "global": {
+ "prepare": {
+ "cmake": {
+ "definitions": {
+ "CMAKE_BUILD_TYPE": "RelWithDebInfo",
+ "CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
+ "CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
+ }
+ }
+ }
+ }
+}
diff --git a/SimoxUtility/filesystem/make_relative.h b/SimoxUtility/filesystem/make_relative.h
index 77bf25be26bc00599f5e1a90261dd5cc629689f8..87c44387322ea9a5a591059320322da9c371b534 100644
--- a/SimoxUtility/filesystem/make_relative.h
+++ b/SimoxUtility/filesystem/make_relative.h
@@ -5,16 +5,21 @@
namespace simox::fs
{
//! Return path when appended to a_From will resolve to same as a_To
- inline std::filesystem::path make_relative(std::filesystem::path a_From, std::filesystem::path a_To)
+ inline std::filesystem::path
+ make_relative(std::filesystem::path a_From, std::filesystem::path a_To)
{
- a_From = std::filesystem::canonical(a_From);
- a_To = std::filesystem::canonical(a_To);
+ a_From = std::filesystem::weakly_canonical(a_From);
+ a_To = std::filesystem::weakly_canonical(a_To);
std::filesystem::path ret;
std::filesystem::path::const_iterator itrFrom(a_From.begin()), itrTo(a_To.begin());
// Find common base
- for (std::filesystem::path::const_iterator toEnd(a_To.end()), fromEnd(a_From.end()); itrFrom != fromEnd && itrTo != toEnd && *itrFrom == *itrTo; ++itrFrom, ++itrTo);
+ for (std::filesystem::path::const_iterator toEnd(a_To.end()), fromEnd(a_From.end());
+ itrFrom != fromEnd && itrTo != toEnd && *itrFrom == *itrTo;
+ ++itrFrom, ++itrTo)
+ ;
// Navigate backwards in directory to reach previously found base
- for (std::filesystem::path::const_iterator fromEnd(a_From.end()); itrFrom != fromEnd; ++itrFrom)
+ for (std::filesystem::path::const_iterator fromEnd(a_From.end()); itrFrom != fromEnd;
+ ++itrFrom)
{
if ((*itrFrom) != ".")
ret /= "..";
@@ -25,4 +30,4 @@ namespace simox::fs
ret /= *itrTo;
return ret;
}
-}
+} // namespace simox::fs
diff --git a/VirtualRobot/tests/OmniPlatformKinematicsTest.cpp b/VirtualRobot/tests/OmniPlatformKinematicsTest.cpp
index eac7c48de8cc28bdb6d2a3db226402381276a335..5cceb677c02a138a6abf83834031a7e4854271f5 100755
--- a/VirtualRobot/tests/OmniPlatformKinematicsTest.cpp
+++ b/VirtualRobot/tests/OmniPlatformKinematicsTest.cpp
@@ -74,6 +74,10 @@ BOOST_AUTO_TEST_CASE(testInv)
BOOST_CHECK_CLOSE(vAngle, velocities(2), 0.001);
}
+
+#define VAROUT(var) #var " = " << var
+
+
BOOST_AUTO_TEST_CASE(testMoveForward)
{
const VirtualRobot::OmniWheelPlatformKinematicsParams params = ARMAR7_OMNI_PLATFORM_CONFIG;
@@ -84,14 +88,16 @@ BOOST_AUTO_TEST_CASE(testMoveForward)
const auto wheelVelocities = p.calcWheelVelocity(velForward);
// front wheel should not move
- BOOST_CHECK_CLOSE(0.0, wheelVelocities(0), 0.1);
+ BOOST_TEST_INFO(0.0 << " | " << VAROUT(wheelVelocities(0)));
+ BOOST_CHECK_LE(std::abs(0.0 - wheelVelocities(0)), 0.02);
// rear wheels should move at the same speed ...
- BOOST_CHECK_CLOSE(std::abs(wheelVelocities(1)), std::abs(wheelVelocities(2)), 0.001);
+ BOOST_TEST_INFO(VAROUT(wheelVelocities(1)) << " | " << VAROUT(wheelVelocities(2)));
+ BOOST_CHECK_LE(std::abs(std::abs(wheelVelocities(1)) - std::abs(wheelVelocities(2))), 0.02);
// .. but with different signs
BOOST_CHECK_GE(wheelVelocities(1), 0.0);
- BOOST_CHECK_LE(wheelVelocities(2), 0.0);
+ BOOST_CHECK_LE(wheelVelocities(2), 1e-8);
}
BOOST_AUTO_TEST_CASE(testRotate)